Research on Environmental Perception Technology for Menology Environments Based on Binocular Vision

To detect menology environments, we present an environmental perception technology based on binocular stereo vision system. The binocular vision system is calibrated by Zhangzhengyou calibration method, and the original images are rectificated by epipolar rectification. Based on the revised binocular vision system, rectificated images are preprocessed by adopting histogram equalization, maximal between-cluster variance and threshold area erosion. According to segmentation image, objectives and background are respectively area-matched and the matching results are verified by left and right consistency check. The disparity map is obtained and it shows that the proposed method is correct and feasible. This paper offers a useful reference to environmental perception technology for menology environments.